Glider dive log

HoodCanal Jan18 * SG194 * Dive index * Mission links * Dive 182 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 194 HD_B 0.0099999998 ROLL_MAX 3873 ALTIM_BOTTOM_PING_RANGE 0

MISSION 12 HD_C 9.9999997e-06 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 20

DIVE 182 HEADING -1 C_ROLL_DIVE 2082 ALTIM_BOTTOM_TURN_MARGIN 10

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2082 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 100

D_FLARE 2 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

D_TGT 180 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 50 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 69 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 410 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 3

D_BOOST 3 N_FILEKB 4 ROLL_MAXERRORS 1 XPDR_VALID 3

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 375 INT_PRESSURE_YINT 1.223

D_SAFE 0 PROTOCOL 9 VBD_MAX 3900 DEEPGLIDER 0

D_CALL 0 N_NOCOMM 1 C_VBD 2065 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 35

T_DIVE 60 CALL_TRIES 20 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 90 CALL_WAIT 60 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 290 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 2 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 1 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 142 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 199 AH0_10V 95 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MAX 3894 MINV_24V 19 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3153 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 250 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0043142368

COURSE_BIAS 0 PITCH_CNV 0.003125763 MAXI_10V 0.60000002 SEABIRD_T_H 0.00062992517

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.3677077e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.1 FG_AHR_24V 0 SEABIRD_T_J 2.5192039e-06

RHO 1.023 PITCH_GAIN 23 PHONE_SUPPLY -2 SEABIRD_C_G -10.019496

MASS 59218 PITCH_TIMEOUT 17 PRESSURE_YINT -56.168804 SEABIRD_C_H 1.1237694

MASS_COMP 3867 PITCH_AD_RATE 160 PRESSURE_SLOPE 0.0001158091 SEABIRD_C_I -0.0014884615

NAV_MODE 1 PITCH_MAXERRORS 1 AD7714Ch0Gain 128 SEABIRD_C_J 0.00020148222

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2989.49

KALMAN_USE 1 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.003 ROLL_MIN 291 COMPASS_USE 4

AD7714Ch0Gain 128 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 95 D_SURF 3 PITCH_ADJ_GAIN 0.02 SM_CC 410

AH0_24V 142 D_TGT 180 PITCH_AD_RATE 160 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 23 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_MAX 3894 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_MIN 199 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 32 PITCH_W_DBAND 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_B 0.0099999998 PRESSURE_SLOPE 0.0001158091 T_ABORT 1440

CALL_NDIVES 1 HD_C 9.9999997e-06 PRESSURE_YINT -56.168804 T_BOOST 0

CALL_TRIES 20 HEADING -1 PROTOCOL 9 T_DIVE 60

CALL_WAIT 60 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 P_OVSHOOT_WITHG 0.1 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 ID 194 RAFOS_DEVICE -1 T_MISSION 90

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1.223 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 33 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 1 T_TURN 290

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3153 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2082 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 2082 LOGGERS 0 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_VBD 2065 MASS 59218 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 MASS_COMP 3867 ROLL_DEG 40 USE_ICE 0

DEEPGLIDER 0 MAXI_10V 0.60000002 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE2 101 MAX_BUOY 250 ROLL_MIN 291 VBD_DBAND 2

DEVICE3 35 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 19 R_PORT_OVSHOOT 50 VBD_MAX 3900

DEVICE5 -1 MISSION 12 R_STBD_OVSHOOT 69 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -10.019496 VBD_MIN 375

DIVE 182 NAV_MODE 1 SEABIRD_C_H 1.1237694 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 NOCOMM_ACTION 163 SEABIRD_C_I -0.0014884615 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 3 N_DIVES 0 SEABIRD_C_J 0.00020148222 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2989.49 W_ADJ_DBAND 2

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0043142368 XPDR_DEVICE 24

D_FLARE 2 N_NOCOMM 1 SEABIRD_T_H 0.00062992517 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.3677077e-05 XPDR_VALID 3

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 2.5192039e-06

D_PITCH 0 PHONE_SUPPLY -2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 080218,003342,4738.6089,-12253.5820,8,0.8,20,16.4,0.0,0.0,11,4.8 TGT_NAME NW1

_CALLS 1 TGT_LATLONG 4738.657,-12253.412

_XMS_NAKs 0 TGT_RADIUS 250.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.172311,-0.017582

_SM_DEPTHo 6.20 KALMAN_X 26714.361328,244.582916,241.910904,-28480.544922,274.821838

_SM_ANGLEo -74.3 KALMAN_Y 10208.943359,224.013916,321.168701,-11752.982422,99.115936

GPS2 080218,003857,4738.6099,-12253.5410,9,0.9,39,16.4,0.0,0.0,10,4.9 MHEAD_RNG_PITCHd_Wd 247.8,183,-27.2,-10.000,-30.00,962

SPEED_LIMITS 0.173,0.325 D_GRID 180

Post-dive calculations and measurements:

SM_CCo 3315,113.70,0.531,0,0,372,414.56 _24V_AH 24.45,12.520

SM_GC 6.33,9.35,2.12,0.00,0.065,0.023,0.000,216,2089,369,-9.13,1.84,416.03,0,0,0,0,0,0,25.82,25.91,25.91 _10V_AH 10.30,5.123

IRIDIUM_FIX 4737.86,-12251.79,070218,232943 FG_AHR_24Vo 0.000

TT8_MAMPS 0.026215,0.280126 FG_AHR_10Vo 0.000

HUMID 39.52 MEM 312708

INTERNAL_PRESSURE 8.03967 DATA_FILE_SIZE 28035,400

TCM_TEMP 10.50 CAP_FILE_SIZE 60509,0

XPDR_PINGS 0 CFSIZE 2097872896,2076639232

ALTIM_TOP_PING 19.5,14.5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

ALTIM_BOTTOM_PING 140.3,21.0 GPS 080218,014412,4738.506,-12253.834,6,0.8,19,16.4,0.3,163.7,10,5.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 251 137.54 SBE_CT 274 23 160.98

Roll_motor 42 55 56.86 AA4330 530 0 9.72

VBD_pump_during_apogee 180 751 3314.13 WL_blue_red_Chl_old_fw 535 0 9.82

VBD_pump_during_surface 113 530 1475.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 196 76 367.87 nil 0 0 0.00

Transponder_ping 4 420 41.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 30 12.77

TT8 991 14 152.76

LPSleep 1650 2 37.22

TT8_Active 402 14 61.94

TT8_Sampling 936 43 418.74

TT8_CF8 142 53 77.81

TT8_Kalman 33 69 24.00

Analog_circuits 1010 15 156.12

GPS_charging 0 0 0.00

Compass 701 8 64.95

RAFOS 0 0 0.00

Transponder 33 30 10.50

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -1.25 -63.1 217 2089 356 383 0.0 0.0 0 16 0.00 0.00 -6.25 0.000 16386 0.000 0.000 217 2089 554 539 569 0 0 0 0 0 0 26.29 28.83 26.30 8.08 40.15

20 -1.25 -63.1 217 2089 540 570 6.2 0.0 1 100 10.55 2.15 -61.85 0.000 18692 0.252 0.055 2743 3468 2323 2356 2291 0 0 0 0 0 0 25.60 25.42 25.91 8.09 39.84

147 -1.12 -63.1 2742 3468 2356 2292 18.4 -18.4 23 155 0.15 2.08 0.00 0.000 3078 0.182 0.024 2785 2067 2323 2356 2291 0 0 0 0 0 0 25.81 26.08 26.01 8.25 38.89

214 -1.05 -63.1 2785 2066 2356 2289 29.1 -13.9 30 215 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2067 2323 2357 2290 0 0 0 0 0 0 26.39 26.39 26.39 8.24 39.48

334 -1.00 -63.1 2784 2066 2356 2287 43.8 -11.9 42 343 0.12 2.15 0.00 0.000 2308 0.191 0.041 2824 3464 2322 2356 2288 0 0 0 0 0 0 25.94 26.13 26.05 8.24 39.68

461 -1.00 -63.1 2823 3464 2356 2287 58.6 -12.5 54 468 0.00 2.03 0.00 0.000 1030 0.000 0.023 2824 2080 2321 2356 2287 0 0 0 0 0 0 26.30 26.24 26.32 8.24 39.91

586 -1.00 -63.1 2823 2080 2356 2286 74.2 -11.8 67 595 0.00 2.15 0.00 0.000 516 0.000 0.040 2824 687 2320 2356 2285 0 0 0 0 0 0 26.55 26.23 26.55 8.24 39.52

638 -1.00 -63.1 2824 687 2356 2284 80.8 -12.6 72 642 0.00 2.05 0.00 0.000 1030 0.000 0.025 2824 2077 2320 2356 2284 0 0 0 0 0 0 26.34 26.27 26.36 8.24 39.56

770 -1.00 -63.1 2823 2076 2356 2285 97.1 -12.8 85 771 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 2077 2321 2357 2285 0 0 0 0 0 0 26.60 26.60 26.60 8.25 39.48

890 -1.00 -63.1 2824 2077 2357 2284 112.1 -12.3 97 891 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 2077 2320 2356 2285 0 0 0 0 0 0 26.62 26.63 26.63 8.25 40.54

1072 -1.00 -63.1 2824 2077 2356 2284 133.2 -11.6 115 1080 0.00 2.12 0.00 0.000 516 0.000 0.040 2824 690 2320 2356 2284 0 0 0 0 0 0 26.66 26.34 26.67 8.26 40.03

1138 -1.00 -63.1 2824 690 2356 2283 141.9 -13.2 121 1142 0.00 2.05 0.00 0.000 1030 0.000 0.026 2824 2089 2320 2357 2283 0 0 0 0 0 0 26.45 26.38 26.47 8.26 39.95

1217 end dive: BOTTOM_OBSTACLE_DETECTED

state 1217 begin apogee

1224 -0.22 0.0 2824 2089 2356 2283 152.4 -12.6 129 1282 0.77 0.00 54.53 0.752 10246 0.147 0.000 3075 2090 2065 2106 2024 0 0 0 0 0 0 26.15 25.49 24.90 8.26 40.27

1283 end apogee: CONTROL_FINISHED_OK

state 1283 begin climb

1285 1.25 63.1 3076 2090 2105 2024 155.6 0.0 135 1349 1.30 0.00 56.55 0.736 10246 0.087 0.000 3528 2090 1806 1850 1762 0 0 0 0 0 0 25.52 25.00 24.45 8.24 40.62

1530 1.25 63.1 3527 2090 1850 1763 133.6 11.6 160 1531 0.00 0.00 0.00 0.000 6 0.000 0.000 3528 2090 1806 1850 1763 0 0 0 0 0 0 26.02 26.03 26.03 8.23 40.39

1710 1.25 63.1 3527 2090 1850 1762 112.7 11.5 178 1719 0.00 2.20 0.00 0.000 516 0.000 0.040 3538 691 1806 1850 1763 0 0 0 0 0 0 26.25 25.94 26.25 8.23 40.03

1834 1.19 63.1 3538 691 1850 1762 98.1 11.4 190 1842 0.00 2.08 0.00 0.000 1030 0.000 0.025 3538 2091 1806 1850 1762 0 0 0 0 0 0 26.10 26.06 26.13 8.23 40.27

1962 1.19 63.1 3538 2092 1851 1762 83.3 10.9 203 1971 0.00 2.20 0.00 0.000 516 0.000 0.040 3549 673 1806 1850 1762 0 0 0 0 0 0 26.41 26.10 26.42 8.22 40.27

2135 1.13 63.1 3549 673 1850 1762 63.5 11.7 220 2145 0.10 2.08 0.00 0.000 5126 0.165 0.025 3521 2092 1806 1850 1762 0 0 0 0 0 0 26.01 26.23 26.10 8.22 39.72

2265 1.13 63.1 3520 2092 1850 1761 51.4 9.2 233 2274 0.00 2.17 0.00 0.000 516 0.000 0.040 3529 694 1805 1850 1761 0 0 0 0 0 0 26.54 26.22 26.55 8.23 40.23

2320 1.13 63.1 3528 694 1850 1761 46.7 8.7 238 2327 0.00 2.03 0.00 0.000 1030 0.000 0.025 3529 2077 1805 1850 1761 0 0 0 0 0 0 26.35 26.29 26.36 8.23 39.84

2447 1.13 63.1 3528 2078 1850 1761 35.7 8.3 251 2451 0.00 2.15 0.00 0.000 516 0.000 0.040 3540 684 1805 1850 1761 0 0 0 0 0 0 26.59 26.27 26.60 8.22 39.95

2479 1.15 82.2 3539 684 1849 1761 33.2 8.0 254 2499 0.00 2.08 12.10 0.626 9222 0.000 0.025 3540 2093 1728 1772 1684 0 0 0 0 0 0 26.39 26.33 25.41 8.22 40.58

2619 1.15 82.2 3539 2092 1772 1685 21.1 8.6 268 2628 0.00 2.12 0.00 0.000 260 0.000 0.037 3540 3477 1728 1772 1685 0 0 0 0 0 0 26.50 26.19 26.51 8.22 39.88

2924 1.25 189.6 3539 3477 1772 1686 16.9 -1.4 326 2988 0.00 2.05 57.08 0.593 9222 0.000 0.023 3550 2070 1289 1337 1242 0 0 0 0 0 0 26.39 26.34 25.08 8.21 39.84

3053 1.25 189.6 3550 2070 1337 1241 10.7 9.1 349 3060 0.00 2.17 0.00 0.000 260 0.000 0.036 3551 3468 1289 1337 1241 0 0 0 0 0 0 26.07 25.78 26.08 8.17 38.93

3312 end climb: NO_VERTICAL_VELOCITY

state 3312 begin surface

ID	194	HD_B	0.0099999998	ROLL_MAX	3873	ALTIM_BOTTOM_PING_RANGE	0
MISSION	12	HD_C	9.9999997e-06	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	20
DIVE	182	HEADING	-1	C_ROLL_DIVE	2082	ALTIM_BOTTOM_TURN_MARGIN	10
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2082	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	100
D_FLARE	2	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5
D_TGT	180	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	50	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	69	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	410	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	3
D_BOOST	3	N_FILEKB	4	ROLL_MAXERRORS	1	XPDR_VALID	3
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	375	INT_PRESSURE_YINT	1.223
D_SAFE	0	PROTOCOL	9	VBD_MAX	3900	DEEPGLIDER	0
D_CALL	0	N_NOCOMM	1	C_VBD	2065	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	35
T_DIVE	60	CALL_TRIES	20	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	90	CALL_WAIT	60	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	290	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	2	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	1	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	142	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	199	AH0_10V	95	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MAX	3894	MINV_24V	19	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3153	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	250	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0043142368
COURSE_BIAS	0	PITCH_CNV	0.003125763	MAXI_10V	0.60000002	SEABIRD_T_H	0.00062992517
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.3677077e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.1	FG_AHR_24V	0	SEABIRD_T_J	2.5192039e-06
RHO	1.023	PITCH_GAIN	23	PHONE_SUPPLY	-2	SEABIRD_C_G	-10.019496
MASS	59218	PITCH_TIMEOUT	17	PRESSURE_YINT	-56.168804	SEABIRD_C_H	1.1237694
MASS_COMP	3867	PITCH_AD_RATE	160	PRESSURE_SLOPE	0.0001158091	SEABIRD_C_I	-0.0014884615
NAV_MODE	1	PITCH_MAXERRORS	1	AD7714Ch0Gain	128	SEABIRD_C_J	0.00020148222
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2989.49
KALMAN_USE	1	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.003	ROLL_MIN	291	COMPASS_USE	4

GPS1	080218,003342,4738.6089,-12253.5820,8,0.8,20,16.4,0.0,0.0,11,4.8	TGT_NAME	NW1
_CALLS	1	TGT_LATLONG	4738.657,-12253.412
_XMS_NAKs	0	TGT_RADIUS	250.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.172311,-0.017582
_SM_DEPTHo	6.20	KALMAN_X	26714.361328,244.582916,241.910904,-28480.544922,274.821838
_SM_ANGLEo	-74.3	KALMAN_Y	10208.943359,224.013916,321.168701,-11752.982422,99.115936
GPS2	080218,003857,4738.6099,-12253.5410,9,0.9,39,16.4,0.0,0.0,10,4.9	MHEAD_RNG_PITCHd_Wd	247.8,183,-27.2,-10.000,-30.00,962
SPEED_LIMITS	0.173,0.325	D_GRID	180

SM_CCo	3315,113.70,0.531,0,0,372,414.56	_24V_AH	24.45,12.520
SM_GC	6.33,9.35,2.12,0.00,0.065,0.023,0.000,216,2089,369,-9.13,1.84,416.03,0,0,0,0,0,0,25.82,25.91,25.91	_10V_AH	10.30,5.123
IRIDIUM_FIX	4737.86,-12251.79,070218,232943	FG_AHR_24Vo	0.000
TT8_MAMPS	0.026215,0.280126	FG_AHR_10Vo	0.000
HUMID	39.52	MEM	312708
INTERNAL_PRESSURE	8.03967	DATA_FILE_SIZE	28035,400
TCM_TEMP	10.50	CAP_FILE_SIZE	60509,0
XPDR_PINGS	0	CFSIZE	2097872896,2076639232
ALTIM_TOP_PING	19.5,14.5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING	140.3,21.0	GPS	080218,014412,4738.506,-12253.834,6,0.8,19,16.4,0.3,163.7,10,5.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	251	137.54	SBE_CT	274	23	160.98
Roll_motor	42	55	56.86	AA4330	530	0	9.72
VBD_pump_during_apogee	180	751	3314.13	WL_blue_red_Chl_old_fw	535	0	9.82
VBD_pump_during_surface	113	530	1475.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	196	76	367.87	nil	0	0	0.00
Transponder_ping	4	420	41.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	30	12.77
TT8	991	14	152.76
LPSleep	1650	2	37.22
TT8_Active	402	14	61.94
TT8_Sampling	936	43	418.74
TT8_CF8	142	53	77.81
TT8_Kalman	33	69	24.00
Analog_circuits	1010	15	156.12
GPS_charging	0	0	0.00
Compass	701	8	64.95
RAFOS	0	0	0.00
Transponder	33	30	10.50

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-1.25	-63.1	217	2089	356	383	0.0	0.0	0	16	0.00	0.00	-6.25	0.000	16386	0.000	0.000	217	2089	554	539	569	0	0	0	0	0	0	26.29	28.83	26.30	8.08	40.15
20	-1.25	-63.1	217	2089	540	570	6.2	0.0	1	100	10.55	2.15	-61.85	0.000	18692	0.252	0.055	2743	3468	2323	2356	2291	0	0	0	0	0	0	25.60	25.42	25.91	8.09	39.84
147	-1.12	-63.1	2742	3468	2356	2292	18.4	-18.4	23	155	0.15	2.08	0.00	0.000	3078	0.182	0.024	2785	2067	2323	2356	2291	0	0	0	0	0	0	25.81	26.08	26.01	8.25	38.89
214	-1.05	-63.1	2785	2066	2356	2289	29.1	-13.9	30	215	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2067	2323	2357	2290	0	0	0	0	0	0	26.39	26.39	26.39	8.24	39.48
334	-1.00	-63.1	2784	2066	2356	2287	43.8	-11.9	42	343	0.12	2.15	0.00	0.000	2308	0.191	0.041	2824	3464	2322	2356	2288	0	0	0	0	0	0	25.94	26.13	26.05	8.24	39.68
461	-1.00	-63.1	2823	3464	2356	2287	58.6	-12.5	54	468	0.00	2.03	0.00	0.000	1030	0.000	0.023	2824	2080	2321	2356	2287	0	0	0	0	0	0	26.30	26.24	26.32	8.24	39.91
586	-1.00	-63.1	2823	2080	2356	2286	74.2	-11.8	67	595	0.00	2.15	0.00	0.000	516	0.000	0.040	2824	687	2320	2356	2285	0	0	0	0	0	0	26.55	26.23	26.55	8.24	39.52
638	-1.00	-63.1	2824	687	2356	2284	80.8	-12.6	72	642	0.00	2.05	0.00	0.000	1030	0.000	0.025	2824	2077	2320	2356	2284	0	0	0	0	0	0	26.34	26.27	26.36	8.24	39.56
770	-1.00	-63.1	2823	2076	2356	2285	97.1	-12.8	85	771	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	2077	2321	2357	2285	0	0	0	0	0	0	26.60	26.60	26.60	8.25	39.48
890	-1.00	-63.1	2824	2077	2357	2284	112.1	-12.3	97	891	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	2077	2320	2356	2285	0	0	0	0	0	0	26.62	26.63	26.63	8.25	40.54
1072	-1.00	-63.1	2824	2077	2356	2284	133.2	-11.6	115	1080	0.00	2.12	0.00	0.000	516	0.000	0.040	2824	690	2320	2356	2284	0	0	0	0	0	0	26.66	26.34	26.67	8.26	40.03
1138	-1.00	-63.1	2824	690	2356	2283	141.9	-13.2	121	1142	0.00	2.05	0.00	0.000	1030	0.000	0.026	2824	2089	2320	2357	2283	0	0	0	0	0	0	26.45	26.38	26.47	8.26	39.95
1217	end dive: BOTTOM_OBSTACLE_DETECTED
state	1217	begin apogee
1224	-0.22	0.0	2824	2089	2356	2283	152.4	-12.6	129	1282	0.77	0.00	54.53	0.752	10246	0.147	0.000	3075	2090	2065	2106	2024	0	0	0	0	0	0	26.15	25.49	24.90	8.26	40.27
1283	end apogee: CONTROL_FINISHED_OK
state	1283	begin climb
1285	1.25	63.1	3076	2090	2105	2024	155.6	0.0	135	1349	1.30	0.00	56.55	0.736	10246	0.087	0.000	3528	2090	1806	1850	1762	0	0	0	0	0	0	25.52	25.00	24.45	8.24	40.62
1530	1.25	63.1	3527	2090	1850	1763	133.6	11.6	160	1531	0.00	0.00	0.00	0.000	6	0.000	0.000	3528	2090	1806	1850	1763	0	0	0	0	0	0	26.02	26.03	26.03	8.23	40.39
1710	1.25	63.1	3527	2090	1850	1762	112.7	11.5	178	1719	0.00	2.20	0.00	0.000	516	0.000	0.040	3538	691	1806	1850	1763	0	0	0	0	0	0	26.25	25.94	26.25	8.23	40.03
1834	1.19	63.1	3538	691	1850	1762	98.1	11.4	190	1842	0.00	2.08	0.00	0.000	1030	0.000	0.025	3538	2091	1806	1850	1762	0	0	0	0	0	0	26.10	26.06	26.13	8.23	40.27
1962	1.19	63.1	3538	2092	1851	1762	83.3	10.9	203	1971	0.00	2.20	0.00	0.000	516	0.000	0.040	3549	673	1806	1850	1762	0	0	0	0	0	0	26.41	26.10	26.42	8.22	40.27
2135	1.13	63.1	3549	673	1850	1762	63.5	11.7	220	2145	0.10	2.08	0.00	0.000	5126	0.165	0.025	3521	2092	1806	1850	1762	0	0	0	0	0	0	26.01	26.23	26.10	8.22	39.72
2265	1.13	63.1	3520	2092	1850	1761	51.4	9.2	233	2274	0.00	2.17	0.00	0.000	516	0.000	0.040	3529	694	1805	1850	1761	0	0	0	0	0	0	26.54	26.22	26.55	8.23	40.23
2320	1.13	63.1	3528	694	1850	1761	46.7	8.7	238	2327	0.00	2.03	0.00	0.000	1030	0.000	0.025	3529	2077	1805	1850	1761	0	0	0	0	0	0	26.35	26.29	26.36	8.23	39.84
2447	1.13	63.1	3528	2078	1850	1761	35.7	8.3	251	2451	0.00	2.15	0.00	0.000	516	0.000	0.040	3540	684	1805	1850	1761	0	0	0	0	0	0	26.59	26.27	26.60	8.22	39.95
2479	1.15	82.2	3539	684	1849	1761	33.2	8.0	254	2499	0.00	2.08	12.10	0.626	9222	0.000	0.025	3540	2093	1728	1772	1684	0	0	0	0	0	0	26.39	26.33	25.41	8.22	40.58
2619	1.15	82.2	3539	2092	1772	1685	21.1	8.6	268	2628	0.00	2.12	0.00	0.000	260	0.000	0.037	3540	3477	1728	1772	1685	0	0	0	0	0	0	26.50	26.19	26.51	8.22	39.88
2924	1.25	189.6	3539	3477	1772	1686	16.9	-1.4	326	2988	0.00	2.05	57.08	0.593	9222	0.000	0.023	3550	2070	1289	1337	1242	0	0	0	0	0	0	26.39	26.34	25.08	8.21	39.84
3053	1.25	189.6	3550	2070	1337	1241	10.7	9.1	349	3060	0.00	2.17	0.00	0.000	260	0.000	0.036	3551	3468	1289	1337	1241	0	0	0	0	0	0	26.07	25.78	26.08	8.17	38.93
3312	end climb: NO_VERTICAL_VELOCITY
state	3312	begin surface